CN107449460A - A kind of compensation method of rotary encoder and compensation system - Google Patents
A kind of compensation method of rotary encoder and compensation system Download PDFInfo
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- CN107449460A CN107449460A CN201710552974.4A CN201710552974A CN107449460A CN 107449460 A CN107449460 A CN 107449460A CN 201710552974 A CN201710552974 A CN 201710552974A CN 107449460 A CN107449460 A CN 107449460A
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- encoder
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- rotary encoder
- control centre
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
Abstract
The invention discloses a kind of compensation method of rotary encoder, comprise the following steps：First, the real data operated with encoder collection motor；Then, the ideal data of real data and the motor is done into subtraction, obtains difference curve；Afterwards, compensation formula is fitted according to the difference curve；And the compensation formula is write into encoder；In detection process afterwards, the collection result of the encoder is modified by the compensation formula.The compensation method of the encoder, using Nonlinear Quasi hop algorithm, fitting formula is directly exported, nonlinearity erron caused by covering encoder, reduces site error, reduce velocity perturbation, improve the precision of servo-drive system to greatest extent.The invention also discloses a kind of compensation system of encoder, the compensation method of above-mentioned encoder has been used.
Description
Technical field
The present invention relates to encoder techniques, in particular it relates to compensation method and the compensation system of a kind of rotary encoder.
Background technology
Rotary encoder（rotary encoder）Also referred to as shaft encoder, it is that rotation position or rotation amount are converted into mould
The electromechanical equipment of plan or data signal.It is typically mounted at the one side of vertical rotating shaft in rotating object.Rotary encoder, which is used in, to be permitted
The occasions for needing exact rotational position and speed, such as Industry Control, robot technology, special lens, computer input apparatus more.
Servo-control system is the operation that a kind of mechanical movement that can be to experimental rig is automatically controlled by pre-provisioning request
System.Current servo typically uses finished product encoder, and the precision and antijamming capability of encoder directly determine SERVO CONTROL system
The control accuracy and Electro Magnetic Compatibility of system.
Existing encoder volume is big, and encoder inevitably exists because installation site cannot be guaranteed absolutely accurate
Nonlinearity erron.Encoder in servo-drive system in occupation of very important position, it be control one of innermost ring it is important defeated
Enter data.The bad output control that cannot be got well of input data.It is mixed and disorderly to be embodied in electric current loop current waveform, speed ring
The fluctuation that travels at the uniform speed is larger.Therefore the performance of servo can be substantially reduced.
Photoelectric encoder with its precision it is high, practical, stable the features such as be widely used；Because photoelectric encoder is profit
Sensed with grating and produce signal, therefore stable signal is often depending on clearly, lasting light beam.Servo-drive system is in dust and evil
Particle, which can penetrate into, under bad environment easily causes failure under optical path.Same servo-drive system can draw at the moist temperature of fluctuation
Condensation on tuorbillion transcoding disk also increases the possibility of failure.Photoelectric encoder for hit and vibrate equally be it is very fragile,
This can directly result in the damage of rotation optical code disk or sensor.
Encoder is accurately and reliably the vital link of servo-control system, how to improve the precision of encoder,
It is the technical problem that those skilled in the art are badly in need of solving.
The content of the invention
It is an object of the invention to provide a kind of compensation method of rotary encoder, the compensation method compensate for revolving well
Turn the nonlinearity erron of encoder, improve operational efficiency, improve the real-time and accuracy of detection.
In order to realize above-mentioned technical purpose, the invention provides a kind of compensation method of rotary encoder, including following step
Suddenly：
Step S1, the real data operated with rotary encoder collection motor；
Step S2, the ideal data of real data and the motor is done into subtraction, obtains difference curve；
Step S3, compensation formula is fitted according to the difference curve；
Step S4, the compensation formula is write into the rotary encoder；
Step S5, in detection process, the collection result of the rotary encoder is modified by the compensation formula.
Optionally, in step S3, compensation is fitted according to the difference curve by Fourier space curve fitting algorithm
Formula.
Optionally, in step S4, the rotary encoder includes encoder body and control centre, and the compensation formula is write
Enter the control centre.
Optionally, in step S5, the collection result is passed to the control centre, the control by the rotary encoder
System is modified centrally through the compensation formula to the collection result.
Present invention also offers a kind of compensation system of rotary encoder, including encoder body, control centre, standard electric
Machine；The encoder body gathers the real data of the standard electromotor and passes to the control centre, the control centre
The ideal data of real data and the standard electromotor is done into subtraction, difference curve is obtained, is then fitted the difference curve
Go out compensation formula.
Optionally, the control centre fits benefit by Fourier space curve fitting algorithm according to the difference curve
Repay formula.
Optionally, the control centre is repaiied by the compensation formula to the collection result of the encoder body
Just.
The compensation method of rotary encoder provided by the invention, comprises the following steps：First, electricity is gathered with rotary encoder
The real data of machine operating；Then, the ideal data of real data and the motor is done into subtraction, obtains difference curve；Afterwards,
Compensation formula is fitted according to the difference curve；And the compensation formula is write into rotary encoder；In detection afterwards
Cheng Zhong, the collection result of the rotary encoder is modified by the compensation formula.
The compensation method of rotary encoder provided by the invention, using Nonlinear Quasi hop algorithm, fitting formula is directly exported,
Nonlinearity erron caused by covering encoder to greatest extent, reduces site error, reduces velocity perturbation, improve servo system
The precision of system.Meanwhile using Nonlinear Quasi hop algorithm, whole piece nonlinear curve, such nothing are directly fitted automatically without segmentation
A large amount of calibration data need to be stored, computing is quick, and CPU usage is extremely low.The compensation method make use of Nonlinear Quasi hop algorithm, storage
Data volume is small, and CPU usage is low, and response frequency is high, when detect pot motor, can still ensure its real-time and accurately
Property.
Present invention also offers a kind of compensation system of rotary encoder, the compensation side of above-mentioned rotary encoder has been used
Method.
Brief description of the drawings
Accompanying drawing is for providing a further understanding of the present invention, and a part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.
Fig. 1 is the flow chart of the compensation method of rotary encoder provided by the present invention；
Fig. 2 is the workflow diagram of the compensation system of rotary encoder provided by the present invention.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
Fig. 1 is refer to, Fig. 1 is the flow chart of the compensation method of rotary encoder provided by the present invention.
In a kind of specific embodiment, the invention provides a kind of compensation method of rotary encoder, including it is following
Step：
Step S1, the real data operated with rotary encoder collection motor；
Step S2, the ideal data of real data and the motor is done into subtraction, obtains difference curve；
Step S3, compensation formula is fitted according to the difference curve；
Step S4, the compensation formula is write into rotary encoder；
Step S5, in detection process, the collection result of the rotary encoder is modified by the compensation formula.
In the prior art, rotary encoder has two kinds of backoff algorithms for error caused by installation accuracy, and the first is
A backoff algorithm is taken, is taken a little excessively, calibration data amount is big, can influence encoder efficiency；Take a little very few, the error of point-to-point transmission can become
Greatly, encoder accuracy is influenceed.Second is segmenting backoff algorithm, and this algorithm is similar with taking a backoff algorithm, segmentation it is more,
Calibration data amount can be caused huge, computing is complicated；Segmentation is few, and the precision of rotary encoder can be caused not high.
In general rotary encoder is more punctual at present, because the calibration data amount of storage is big, operation time length, have impact on
CPU operation efficiencies, its highest response frequency is relatively low, causes that high-revolving motor can not be detected.
The compensation method of rotary encoder provided by the invention, using Nonlinear Quasi hop algorithm, fitting formula is directly exported,
Nonlinearity erron caused by covering encoder to greatest extent, reduces site error, reduces velocity perturbation, improve servo system
The precision of system.Meanwhile using Nonlinear Quasi hop algorithm, whole piece nonlinear curve, such nothing are directly fitted automatically without segmentation
A large amount of calibration data need to be stored, computing is quick, and CPU usage is extremely low.The compensation method make use of Nonlinear Quasi hop algorithm, storage
Data volume is small, and CPU usage is low, and response frequency is high, when detect pot motor, can still ensure its real-time and accurately
Property.
In specific embodiment, in step S3, by Fourier space curve fitting algorithm according to the difference curve
Fit compensation formula.
In the compensation method, difference curve is fitted by way of Fourier space curve matching, each position can be obtained
The deviation factor of difference is put, and then obtains whole compensation formula, the compensation formula is used for the compensation of encoder collection result, energy
Enough obtain the higher output result of accuracy rate.
In a kind of preferred embodiment, in step S4, the rotary encoder includes encoder body and control centre,
The compensation formula writes the control centre.
Control centre can be combined with rotary encoder, can be arranged on inside rotary encoder, can also be arranged on tool
Have in the servo-drive system of rotary encoder.No matter whether rotary encoder is independent product, after obtaining the compensation formula, will
The compensation formula is arranged in control centre.
When rotary encoder is independent product, it can do what is compensated in the CPU that is internally integrated of rotary encoder
Control centre, formula compensating parameter is write into this CPU.When rotary encoder is as servopackage, will be able to can compensate public
The main drive control CPU of formula and parameter read-in servopackage.
In further specific embodiment, in step S5, the collection result is passed to institute by the rotary encoder
Control centre is stated, the control centre is modified by the compensation formula to the collection result.
After control centre obtains the compensation formula, the data of rotary encoder collection are modified.
The contrast of the advantage and prior art of the present invention：
1st, minimize, beneficial to integrated；
In general grating encoder causes its shared volume larger due to its optical grating element and code-disc at present, be unfavorable for it is integrated,
Miniaturization.
The compensation method only one integrated chip of rotary magnetic encoder provided by the invention is to can be achieved on circuit board, body
Product is smaller.
2nd, calibration data acquisition is continuous, convenient, fast；
In general encoder is single-point, interval collection for calibration data acquisition at present, and time-consuming.
The compensation method of rotary encoder provided by the invention, the calibration data using rotary encoder collection coordinate control
The compensation formula at center, directly gathers the motor data at the uniform velocity rotated, and quick obtaining motor rotates a circle phase anglec of rotation numerical value,
Simply, it is convenient, fast.
3rd, advanced algorithm, precision are high；
In general encoder has two kinds of backoff algorithms for error caused by installation accuracy at present, and the first is to take a compensation to calculate
Method, take a little excessively, calibration data amount is big, can influence encoder efficiency；Take a little very few, the error of point-to-point transmission can become big, influence to compile
Code device precision.Second is segmenting backoff algorithm, and this algorithm is similar with taking a backoff algorithm, segmentation it is more, school can be caused
Quasi- data volume is huge, and computing is complicated；Segmentation is few, and the precision of encoder can be caused not high.
Rotary encoder compensation method provided by the invention utilizes Nonlinear Quasi hop algorithm, directly exports fitting formula, most
Nonlinearity erron caused by limits covering encoder, reduces site error, reduces velocity perturbation, improve servo-drive system
Precision.
4th, shared resource is few, efficiency high；
In general encoder when using segmenting backoff algorithm, subdivision as much as possible, is using to improve precision at present
As much as possible to take a little when taking backoff algorithm, it is huge that both algorithms can all cause to store calibration data amount, CPU usage
It is high.
Nonlinear Quasi hop algorithm used by rotary encoder compensation method provided by the invention, a formula is only stored,
Storage data quantity is few, and later stage computing does not have to table look-up, and directly calculates, and operation efficiency is high, and CPU usage is low.
5th, high rotating speed real-time and accuracy are more preferable；
In general encoder is more punctual at present, because the calibration data amount of storage is big, operation time length, have impact on CPU computings effect
Rate, its highest response frequency is relatively low, causes that high-revolving motor can not be detected.
The backoff algorithm of rotary encoder provided by the invention, storage data quantity is small, and CPU usage is low, and response frequency is high,
When detecting pot motor, it can still ensure its real-time and accuracy.
Fig. 2 is refer to, Fig. 2 is the workflow diagram of the compensation system of rotary encoder provided by the present invention.
Present invention also offers a kind of compensation system of rotary encoder, including encoder body, control centre, standard electric
Machine；The encoder body gathers the real data of the standard electromotor and passes to the control centre, the control centre
The ideal data of real data and the standard electromotor is done into subtraction, difference curve is obtained, is then fitted the difference curve
Go out compensation formula.
The compensation system of rotary encoder provided by the invention, above-mentioned backoff algorithm is applied, it is worthwhile using Nonlinear Quasi
Method, fitting formula is directly exported, nonlinearity erron caused by covering encoder, reduces site error, reduce to greatest extent
Velocity perturbation, improve the precision of servo-drive system.Meanwhile using Nonlinear Quasi hop algorithm, directly fitted automatically without segmentation
Whole piece nonlinear curve, a large amount of calibration data need not be so stored, computing is quick, and CPU usage is extremely low.The compensation method utilizes
Nonlinear Quasi hop algorithm, storage data quantity is small, and CPU usage is low, and response frequency is high, when detecting pot motor, still
Its real-time and accuracy can be ensured.
In a kind of specific embodiment, the control centre is by Fourier space curve fitting algorithm according to
Difference curve fits compensation formula.
Control centre can be combined with rotary encoder, can be arranged on inside rotary encoder, can also be arranged on tool
Have in the servo-drive system of rotary encoder.No matter whether rotary encoder is independent product, and the benefit is obtained by control centre
Formula is repaid, and the compensation formula is stored in control centre.
When rotary encoder is independent product, it can do what is compensated in the CPU that is internally integrated of rotary encoder
Control centre, formula compensating parameter is write into this CPU.When rotary encoder is as servopackage, will be able to can compensate public
The main drive control CPU of formula and parameter read-in servopackage.
In further specific embodiment, control centre is by the compensation formula to the rotary encoder body
Collection result is modified, and obtains more accurately output data.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, but the invention is not limited in this.For those skilled in the art, the essence of the present invention is not being departed from
In the case of refreshing and essence, various changes and modifications can be made therein, and these variations and modifications are also considered as protection scope of the present invention.
Claims (7)
1. a kind of compensation method of rotary encoder, it is characterised in that comprise the following steps：
S1, the real data operated with rotary encoder collection motor；
S2, the ideal data of real data and the motor is done into subtraction, obtains difference curve；
S3, compensation formula is fitted according to the difference curve；
S4, the compensation formula is write into the rotary encoder；
S5, in detection process, the collection result of the rotary encoder is modified by the compensation formula.
2. the compensation method of rotary encoder as claimed in claim 1, it is characterised in that in step S3, pass through Fourier's level
Curve fit algorithm fits compensation formula according to the difference curve.
3. the compensation method of rotary encoder as claimed in claim 1, it is characterised in that in step S4, the rotary coding
Device includes encoder body and control centre, and the compensation formula writes the control centre.
4. the compensation method of rotary encoder as claimed in claim 3, it is characterised in that in step S5, the rotary coding
The collection result is passed to the control centre by device, and the control centre is by the compensation formula to the collection result
It is modified.
5. a kind of compensation system of rotary encoder, it is characterised in that including encoder body, control centre, standard electromotor；Institute
State encoder body to gather the real data of the standard electromotor and pass to the control centre, the control centre will be actual
Data and the ideal data of the standard electromotor do subtraction, obtain difference curve, the difference curve then is fitted into compensation
Formula.
6. the compensation system of encoder as claimed in claim 5, it is characterised in that the control centre passes through Fourier space
Curve fitting algorithm fits compensation formula according to the difference curve.
7. the compensation system of encoder as claimed in claim 6, it is characterised in that the control centre is public by the compensation
Formula is modified to the collection result of the encoder body.
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| CN108871382A (en) * | 2018-05-09 | 2018-11-23 | 中国科学院长春光学精密机械与物理研究所 | A kind of error correcting method and system of the photoelectric encoder based on error fit |
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| CN110940371A (en) * | 2019-12-13 | 2020-03-31 | 浙江禾川科技股份有限公司 | Calibration method, device and equipment of rotary magnetoelectric encoder |
| CN111082725A (en) * | 2019-12-25 | 2020-04-28 | 傲基科技股份有限公司 | Magnetic rotary encoder angle compensation method, compensation system and motor |
| CN111245304A (en) * | 2018-11-29 | 2020-06-05 | 安徽美芝精密制造有限公司 | Compensation method, compensation device, motor and storage medium |
| CN114089625A (en) * | 2021-11-16 | 2022-02-25 | 深圳市威科达科技有限公司 | Method for compensating position of absolute value encoder |
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| CN108871382A (en) * | 2018-05-09 | 2018-11-23 | 中国科学院长春光学精密机械与物理研究所 | A kind of error correcting method and system of the photoelectric encoder based on error fit |
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| CN111245304A (en) * | 2018-11-29 | 2020-06-05 | 安徽美芝精密制造有限公司 | Compensation method, compensation device, motor and storage medium |
| CN110849406A (en) * | 2019-11-29 | 2020-02-28 | 浙江禾川科技股份有限公司 | Measuring and calibrating method, device and equipment of encoder and storage medium |
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| CN110940371A (en) * | 2019-12-13 | 2020-03-31 | 浙江禾川科技股份有限公司 | Calibration method, device and equipment of rotary magnetoelectric encoder |
| WO2021114419A1 (en) * | 2019-12-13 | 2021-06-17 | 浙江禾川科技股份有限公司 | Calibration method, apparatus and device for rotary magnetoelectric encoder |
| CN111082725A (en) * | 2019-12-25 | 2020-04-28 | 傲基科技股份有限公司 | Magnetic rotary encoder angle compensation method, compensation system and motor |
| CN114089625A (en) * | 2021-11-16 | 2022-02-25 | 深圳市威科达科技有限公司 | Method for compensating position of absolute value encoder |
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